/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "VirtualJoint.hpp"

using namespace rw::models;
using namespace rw::kinematics;
using namespace rw::math;

VirtualJoint::VirtualJoint (const std::string& name, const Transform3D<>& transform, size_t dof) :
    Joint (name, dof), _transform (transform)
{}

void VirtualJoint::doMultiplyTransform (const Transform3D<>& parent, const State& state,
                                        Transform3D<>& result) const
{
    Transform3D<>::multiply (parent, _transform, result);
}

Transform3D<> VirtualJoint::doGetTransform (const State& state) const
{
    return _transform;
}

void VirtualJoint::setFixedTransform (const rw::math::Transform3D<>& t3d)
{
    _transform = t3d;
}

rw::math::Transform3D<> VirtualJoint::getJointTransform (const rw::kinematics::State& state) const
{
    return _transform;
}
